CN115081936A - Method and device for scheduling observation tasks of multiple remote sensing satellites under emergency condition - Google Patents
Method and device for scheduling observation tasks of multiple remote sensing satellites under emergency condition Download PDFInfo
- Publication number
- CN115081936A CN115081936A CN202210856415.3A CN202210856415A CN115081936A CN 115081936 A CN115081936 A CN 115081936A CN 202210856415 A CN202210856415 A CN 202210856415A CN 115081936 A CN115081936 A CN 115081936A
- Authority
- CN
- China
- Prior art keywords
- task
- emergency
- scheduling
- network
- remote sensing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000004422 calculation algorithm Methods 0.000 claims description 40
- 238000013528 artificial neural network Methods 0.000 claims description 25
- 238000003384 imaging method Methods 0.000 claims description 22
- 230000008569 process Effects 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 18
- 238000003860 storage Methods 0.000 claims description 12
- 230000008901 benefit Effects 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000001186 cumulative effect Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000007774 longterm Effects 0.000 claims description 3
- 230000002787 reinforcement Effects 0.000 description 11
- 238000012545 processing Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 239000010410 layer Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003062 neural network model Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006424 Flood reaction Methods 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000002922 simulated annealing Methods 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06312—Adjustment or analysis of established resource schedule, e.g. resource or task levelling, or dynamic rescheduling
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06316—Sequencing of tasks or work
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0637—Strategic management or analysis, e.g. setting a goal or target of an organisation; Planning actions based on goals; Analysis or evaluation of effectiveness of goals
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A10/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE at coastal zones; at river basins
- Y02A10/40—Controlling or monitoring, e.g. of flood or hurricane; Forecasting, e.g. risk assessment or mapping
Landscapes
- Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Engineering & Computer Science (AREA)
- Strategic Management (AREA)
- Economics (AREA)
- Entrepreneurship & Innovation (AREA)
- Educational Administration (AREA)
- Tourism & Hospitality (AREA)
- Marketing (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Development Economics (AREA)
- Theoretical Computer Science (AREA)
- Game Theory and Decision Science (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Primary Health Care (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Radio Relay Systems (AREA)
Abstract
The invention discloses a method and a device for scheduling observation tasks of multiple remote sensing satellites under emergency conditions, wherein the method comprises the following steps: firstly, constructing an initial task demand information table and a satellite resource information table, and then establishing a task queue; step two, the scheduling system receives the current emergency task requirement, inserts the current emergency task into a new task queue for task scheduling, judges and decides whether the current emergency task is executed or not, inserts the current emergency task into a waiting task queue if the current emergency task is executed, otherwise, refuses to execute, and then performs task scheduling on the next new task; step three, when the emergency task is started to be executed, the emergency task is added into the executing task queue, and after the emergency task is executed, the emergency task is added into the executed task queue; and step four, after all the tasks are executed, summarizing a task scheduling result table to form a final task scheduling scheme. The method can provide reference for the task planning of the multi-satellite group, greatly reduce the time complexity and achieve higher task planning efficiency.
Description
Technical Field
The invention belongs to the technical field of information, and relates to a method and a device for scheduling multi-remote sensing satellite observation tasks under emergency conditions.
Background
The earth observation realized by the remote sensing satellite becomes an important means for acquiring earth surface information resources. In recent years, with the frequent occurrence of emergencies and hot spot times in regions, task adjustment and planning under emergency conditions for satellite clusters become a difficult problem to be solved urgently. Particularly, under the condition of emergency tasks, the task scheduling of the satellite is required to be capable of quickly generating a decision scheme, and the remote sensing satellite is used as a product of an advanced earth observation technology and plays an extremely important role in earth observation tasks all the time. Meanwhile, remote sensing satellites have become an important means for acquiring ground information under emergency conditions. In emergency environments (e.g., earthquakes, floods, fires, terrorist attacks, local wars, etc.), the occurrence of events is of a sudden nature with uncertainty as to time, location, and size. At this time, the remote sensing satellite needs to provide service within hours or even tens of minutes in order to develop rescue actions in time.
Currently, a great deal of research is conducted by various national scholars on the problem of satellite static scheduling. The satellite scheduling problem has been described as a multi-criteria path problem on a acyclic graph, and the algorithm is an improvement of the shortest path to label algorithm, which is used to generate all valid paths and select the best sequence with an interactive session. Also proposed is a dynamic programming algorithm that implements a boundary process by lagrangian relaxation or relaxation of certain constraints. And solving the imaging satellite static scheduling problem by adopting a Lagrange relaxation technology and combining tabu search and linear search. And an evolutionary algorithm is designed and compared with algorithms such as a hill climbing method, simulated annealing, heredity and the like. The scheduling period of the static scheduling method is fixed, and after a scheduling decision is issued, the scheduling decision cannot be modified, so that the scheduling period does not meet the task scheduling requirement under the emergency condition.
With respect to the imaging satellite dynamic scheduling problem, the scholars recognize the over-constrained scheduling problem, which is one of the problems, and the satellite scheduling problem is a challenge for the constrained planning method. A heuristic algorithm based on a rolling view is provided in the prior art to solve the dynamic scheduling problem of the agile satellite. The heuristic is greedy, where the ranking function includes dynamic questions and latency. A tabu search meta-heuristic algorithm is also provided for solving the problem of multi-satellite multi-orbit image acquisition scheduling of the optical agile satellite. And a multi-satellite imaging planning model comprehensively considering the emergency task response time and the total task income is established, the planning problem is decomposed into a task time window selection part and a single-rail dynamic planning part, and a self-adaptive immune algorithm and a forward dynamic planning algorithm are respectively designed, so that a better effect is obtained, but the algorithm consumes a longer time.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a method and a device for scheduling multi-remote sensing satellite observation tasks under emergency conditions, the multi-satellite emergency tasks are planned based on reinforcement learning, a decision network is utilized to decide whether to receive the emergency tasks, heuristic rules are adopted to select satellites and time windows for executing the tasks, and an effective emergency task planning scheme is generated, and the specific technical scheme is as follows:
a method for scheduling observation tasks of multiple remote sensing satellites under emergency conditions comprises the following steps:
step one, an initial task demand information table and a satellite resource information table are established, and then a task queue is established, wherein the task queue comprises: a completed task queue, an executing task queue, a waiting task queue, and a new to task queue;
step two, the scheduling system receives the current emergency task requirement, inserts the current emergency task into a new task queue for task scheduling, judges whether the current emergency task requirement is effective, decides whether the emergency task is executed if the current emergency task requirement is effective, and inserts the current emergency task into a waiting task queue for waiting execution if the current emergency task requirement is effective; otherwise, refusing the requirement and executing the emergency task, and then carrying out task scheduling on the next new task;
step three, when the emergency task is started to be executed, the emergency task is added into the executing task queue, the satellite resource information is updated, the execution time window is permanently occupied, and after the emergency task is executed, the emergency task is added into the executed task queue;
and step four, after all tasks are executed, summarizing a task scheduling result table containing information of task numbers, satellite numbers and completed time windows to form a final task scheduling scheme.
Further, if the attributes of the initial task requirement information table include priority, arrival time, effective completion time, resolution requirement and imaging type, a task set is setWherein any one task can be represented as,、、、Andare respectively tasksPriority of the imaging system, arrival time, effective completion time, resolution requirements and imaging type,;
and the attributes of the satellite resource information table comprise task execution time, field angle, imaging resolution, imaging type, task conversion time, yaw rate and maximum yaw angle, and then a satellite resource set is set:
wherein、、、、、、Respectively as satellite resourcesTask execution time, field angle, imaging resolution, imaging type, task switching time, yaw rate, and maximum yaw angle.
Further, the second step is specifically:
when a scheduling system receives a current emergency task requirement, namely an observation requirement of the emergency task, judges whether the observation requirement is effective, firstly calculates an executable time window of the emergency task, checks the constraint condition of each time window and the current executed task, constructs an optional time window set S of the emergency task, and if the optional time window set S is empty, namely the observation requirement is judged to be invalid, rejects the observation requirement of the emergency task and enters a judgment process of a next arriving task; if the observation requirement is judged to be effective, the decision of accepting/rejecting the task execution is given through the A3C-S algorithm network, if the decision result given by the A3C-S algorithm network is rejection of the task execution, the decision process of the next new task is entered, and if the decision result given by the A3C-S algorithm network is acceptance of the task execution, the emergency task is inserted into a waiting task queue, an executable time window is arranged, satellite resource information is updated, and the decision process of the next new task is entered.
Further, the decision of the emergency task is started immediately after the emergency task arrives, the decision of each task is recorded as one step, an N-step sampling method is adopted to update the task decision strategy, and the formula for updating the decision strategy is as follows:
wherein,representsThe cost function in the state of the state,a true value representing the long-term cumulative revenue,representing an immediate benefit.
Further, the calculating of the time window in which the emergency task can be executed and checking the constraint condition between each time window and the currently executed task specifically include:
is provided withTo be a taskOn satellite resourcesThe set of remote sensing opportunities in (a) is,for remote sensing opportunity setsNumber of medium elements, any one of them being a remote sensing opportunityCan be expressed asI.e. remote sensing opportunityA time window of (a);
by means of variablesThe information indicating the scheduling of the task is,=1 represents a taskAllocation to satellite resourcesTokA remote sensing machine will execute otherwise= 0; for external useAndrespectively representing tasksOn satellite resourcesA start time and an end time of, and;
each task can only be allocated to one satellite resource and executed at most once, so there are the following task constraints:
taskMust be at remote sensing opportunityInternal execution, therefore, there are the following remote sensing opportunity constraints:
Further, the scheduling executable time window specifically includes: firstly, calculating the task demand degree in a waiting task queue, wherein the task demand degree represents the urgency degree of the task to be scheduled, and the task with high priority and few remote sensing opportunities is preferentially scheduled, and the task demand degree expression is as follows:
and selecting the task in the waiting task queue by calculating the task demand degree, and selecting the minimum time window from all the time windows which can be used for task completion.
Further, the structure of the A3C-S algorithm network is based on the A3C algorithm network, and a layer of fully connected network is added before the strategy network and the evaluation network; the A3C-S algorithm network adopts an asynchronous updating method, in the asynchronous training process, a public global neural network comprising a strategy network and an evaluation network exists, a plurality of threads are operated, each thread is provided with a local network, the structure of the local network is consistent with that of the global neural network, each local network independently interacts with the environment to obtain experience data, after each local network learns, the loss function gradient of each local network is calculated, the global neural network is updated, the local network updates the parameters of the local network to the parameters of the public global neural network at intervals, further guides the environment interactive learning after the learning, and finally obtains the learned global neural network.
Further, the network parameter gradient calculation formula of the policy network is as follows:
a neural network parameter representing a network of comments,the parameters representing the policy network are,representing the input to the neural network, and,a decision output representing the input to the corresponding neural network,represents a corresponding instant prize value;is the discount factor of the number of the discount factors,is the update step number.
The device for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition comprises one or more processors and is used for realizing the method for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition.
A computer readable storage medium having stored thereon a program which, when executed by a processor, implements the method for scheduling multi-telemetry satellite observation tasks in an emergency-oriented situation.
Has the advantages that:
the method can be used for a multi-satellite task scheduling scene under emergency conditions, can be expanded according to attributes such as parameters and types of satellites, can also meet the requirement of task scheduling of different quantities, forms a task planning scheme within limited time, provides reference for task planning of a multi-satellite group, greatly reduces time complexity on the premise of ensuring the total benefit of task scheduling, and achieves higher task planning efficiency.
Drawings
FIG. 1 is a schematic overall flow chart of the method for scheduling observation tasks of multiple remote sensing satellites in emergency oriented conditions according to the invention;
FIG. 2 is a structural overview of the proposed A3C-S network of the present invention;
FIG. 3 is a detailed flow chart diagram of the method for scheduling observation tasks of multiple remote sensing satellites in emergency oriented condition according to the invention;
FIG. 4 is a schematic structural diagram of the device for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples.
The observation task scheduling of the multi-remote sensing satellite is a core technology for realizing high-efficiency information acquisition, particularly under emergency conditions, the high-efficiency scheduling of the satellite remote sensing task is an important research direction, and is different from a general satellite task scheduling process, the requirement of the emergency task scheduling on timeliness is higher, and the problem of accepting or rejecting the emergency task and the general task exists. In the multi-satellite task planning problem, the calculation complexity is rapidly increased along with the increase of the number of satellites and tasks, so that the traditional algorithm cannot meet the timeliness requirement of emergency tasks.
Therefore, as shown in fig. 1 and fig. 3, the present invention provides a method for scheduling multiple remote sensing satellite observation tasks under emergency conditions, including the following steps:
step one, an initial task demand information table and a satellite resource information table are established, and then a task queue is established, wherein the task queue comprises: a completed task queue, an executing task queue, a waiting task queue, and a new to task queue;
the attributes of the initial task demand information table comprise priority, arrival time, effective completion time, resolution requirements and imaging types, and the attributes of the satellite resource information table comprise task execution time, field angle, imaging resolution, imaging types, task conversion time, yaw rate and maximum yaw angle.
In the embodiment of the present invention, if the defined tasks are all point target tasks, the task set is:
wherein any one task can be represented as,、、、Andare respectively tasksPriority of, arrival time, effective completion time, resolution requirements and type of imaging,。
wherein、、、、、、Respectively as satellite resourcesTask execution time, field angle, imaging resolution, imaging type, task switching time, yaw rate, and maximum yaw angle.
Step two, the scheduling system receives the current emergency task requirement, inserts the current emergency task into a new task queue for task scheduling, judges whether the current emergency task requirement is effective, decides whether the emergency task is executed if the current emergency task requirement is effective, and inserts the current emergency task into a waiting task queue for waiting execution if the current emergency task requirement is effective; otherwise, the demand is rejected, the emergency task is executed, and then the next new task is subjected to task scheduling.
The task scheduling strategy is as follows: the completed task and the executing task cannot be cancelled, so the task scheduling targets the waiting task queue and the new remote sensing task in the task queue.
Specifically, when a scheduling system receives an emergency task requirement, firstly, calculating an executable time window of the emergency task, checking constraint conditions of each time window and a currently executed task, and constructing an optional time window set S of the emergency task; the emergency task is a satellite observation task under an emergency condition;
if the received optional time window set S of the emergency task is empty, rejecting the observation requirement of the emergency task and entering a judgment process of a next arriving task;
if the observation requirement of the emergency task is effective, the A3C-S algorithm network gives a decision of accepting/rejecting task execution according to the satellite resource information and the task requirement information, and if the decision result given by the A3C-S algorithm network is rejection of task execution, the decision process of the next arriving task is started;
if the decision A3C-S algorithm network gives out a decision result that the task is accepted for execution, inserting the emergency task into a task waiting queue according to a rule, arranging an executable time window, updating satellite resource information, and entering a decision process of a new task;
the method comprises the following steps of arranging an executable time window for an emergency task, firstly calculating a task demand degree, wherein the task demand degree represents the urgency degree of the task needing scheduling, and for task priority scheduling with higher priority and fewer remote sensing opportunities, the task demand degree expression is as follows:
by calculating the task desirability, a new task is selected in the waiting task queue, and the smallest time window is selected from all the time windows available for task completion.
In the embodiment of the invention, the point target task can be covered by a single view field of the sensor, and the size can be ignored, so that satellite resourcesAll the tasks have the same execution time and are recorded as。
Is provided withTo be a taskOn satellite resourcesThe set of remote sensing opportunities in (a) is,for remote sensing opportunity setsNumber of medium elements, any one of them being a remote sensing opportunityCan be expressed asI.e. remote sensing opportunityThe time window of (c).
By means of variablesThe information indicating the scheduling of the task is,=1 represents a taskAllocating to satellite resourcesTokA remote sensing opportunity executes, otherwise= 0; for external useAndrespectively representing tasksOn satellite resourcesA start time and an end time of, and。
each task can only be allocated to one satellite resource and executed at most once, so there are the following task constraints:
taskMust be at remote sensing opportunityInternal execution, therefore, there are the following remote sensing opportunity constraints:
Task transition timeRepresenting slave tasksExecution ends to the next taskThe time required to start execution, the task preparation time is defined as:
the readiness time constraint is described as:
scheduling benefits are considered preferentially, and since the smaller the priority is set, the higher the task benefits are, the task benefits are maximized, namely the scheduling task priority is minimized:
in the problem of satellite emergency task scheduling, the scheduling scheme is given immediately after each observation requirement arrives, and each scheduling time only knows the time and the previous observation requirement information, so that the scheduling decision problem is realized under the condition of incomplete information, and the difficulty of task planning is improved. In addition, the satellite emergency task scheduling problem is generated in dynamic scenes such as wartime, emergency and the like, and has extremely high timeliness requirements.
The optimization goal of reinforcement learning is the final reward after multi-step decision making, and the action of each step can obtain at most one instant feedback, and the final reward is obtained after one complete iteration. Compared with the prior art, the method can find that the satellite scheduling problem is not matched with the mode of reinforcement learning, so that the algorithm strategy of reinforcement learning meets the requirements of the dynamic scheduling scene of the emergency task.
The inputs to reinforcement learning are the current mission attributes and satellite resource status. Because the state attributes of the resource state and the observation requirement of the satellite contain multidimensional information and some of the state attributes are continuous variables, the method is suitable for describing and characterizing a decision strategy by adopting a multilayer neural network.
The neural network as an approximator of the value strategy function has the following advantages: first, the classical reinforcement learning only expresses a limited number of states in the form of value tables (e.g., Q-tables), while in practical problems, the number of states is often not a few, and if the value tables are still used, a huge value Table needs to be maintained as the number of iterations increases. Second, there are problems in which the state values are continuous, and neural networks can advantageously deal with such continuous state situations. Thirdly, under practical conditions, the state to decision is generally nonlinear mapping, and the neural network can well fit the mapping relation.
The reinforcement learning method adopted by the invention is to use Asynchronous dominant Actor Critic algorithm network (A3C-S) facing task planning, the A3C-S algorithm network refers to the framework of the A3C algorithm network and is improved on the basis of the A3C algorithm network. Therefore, the A3C-S algorithm network is an Actor-Critic framework, and the network is divided into two parts, including: the Actor part is called a strategy network and is mainly used for updating strategy gradients; the criticic part, called the evaluation network, evaluates the magnitude of parameter adjustments for the strategy, similar to an evaluator.
The structure of the A3C-S algorithm network is shown in fig. 2, wherein the input of the network is the state of the system, which mainly includes the resource state of each satellite in the system and the state of the currently submitted observation requirement (task requirement). The output layer of the network is provided with two neurons which respectively and correspondingly accept and reject two decision actions, and the activation function adopts a softmax function; the output of each unit of the output layer is the probability of selecting the action, and the observation requirement is randomly selected to be rejected or accepted according to the probability.
The A3C algorithm network uses two single-layer fully-connected networks as a strategy network and an evaluation network respectively, and the improvement of A3C-S is that a layer of fully-connected network is added before the strategy network and the evaluation network and is used for extracting the state characteristics of each satellite resource in the system and the state characteristics of the current submitted observation requirements, so that the characteristics convenient for the subsequent network layer learning are extracted, and the network convergence is accelerated.
The neural network can be used for effectively fitting a strategy function and a value function of reinforcement learning, and in the training process of the neural network, input data are required to have independent and identically distributed characteristics, otherwise, stable training is difficult to carry out.
However, the data samples in reinforcement learning are obtained by the agent interacting with the environment, and do not satisfy the independent and equally distributed assumption.
One method for solving the problem that data samples do not meet the independent same-distribution assumption is to adopt an experience playback mechanism, wherein experience data obtained by sampling of a reinforcement learning algorithm is placed in an experience pool, and a random sampling mode is adopted to obtain the forward and backward association between broken data. However, the experience playback mechanism has two problems, one is that the experience obtained by interaction between the intelligent agent and the environment each time needs to be stored in an experience pool, and is extracted in a random sampling mode during training, which consumes a lot of memory and processing capacity, and the other is that due to the adoption of the playback mode, the algorithm can only generate a strategy based on old data, and the learning efficiency is relatively low.
The A3C-S algorithm network adopts an asynchronous updating method to break the relevance between data. In the asynchronous training process, a public global neural network model exists, the public global neural network model comprises the functions of an Actor strategy network and a criticic evaluation network, a plurality of threads are operated, each thread is provided with a local network, the structure of the local network is consistent with that of the global network, and each network can independently interact with the environment to obtain experience data. When each local network learns to a certain degree, the loss function gradient of the local network is calculated, and the global network is updated. In addition, at intervals, the local network updates the parameters of the local network to public global network parameters so as to guide the subsequent environment interaction, and after the final learning is finished, the global network model is the trained target product. Local networks in threads are mainly used for interacting with the environment, models in the threads can better interact with the environment, and high-quality data is taken to help the global network model to converge more quickly.
In the problem of satellite emergency task scheduling, a series of emergency observation tasks arrive sequentially, the decision of each task starts immediately after the task arrives, the decision of each task is recorded as one step, an N-step sampling method is adopted to update the task decision strategy, and the formula for updating the decision strategy is as follows:
wherein,representsThe cost function in the state of the state,to representtSatellite resources and mission status information for the time of day,a true value representing the long-term cumulative revenue,representing an immediate benefit. In each decision, the network makes a decision on the observed demand and receives an immediate reward. In training, the network parameters are updated every N decision steps to collect 1 gradient and used to update the main network. The advantage of using N-step sampling is that convergence can be accelerated, and if a single-step update mode is used, the value function is only slowly changed one step backwards in each iteration, which causes a problem of too slow training.
For a parameterized policy network (Actor), the network parameter gradient calculation formula is as follows:
a neural network parameter representing a network of comments,the parameters representing the policy network are,representing the input to the neural network, and,a decision output representing the input to the corresponding neural network,represents a corresponding instant prize value;is the discount factor of the number of the discount factors,is the update step number.
For the value function network, a supervised learning method is adopted, and the estimation deviation of the estimation value function is updated in a mode of minimizing, and the formula is as follows:
in the decision making process, if the arrival observation requirement is an invalid requirement, namely no available time window exists, the calculation of the network parameter gradient is not included because the arrival observation requirement is rejected before entering the decision making network decision making process and is not used as a one-step decision.
And step three, when the task starts to execute the emergency task, adding the task into the executing task queue, updating the satellite resource information, permanently occupying the execution time window, and adding the task into the executed task queue after the task is executed.
And step four, after all tasks are executed, finishing the scheduling process, summarizing the task numbers, the satellite numbers and the completed time windows into a scheduling result table, and forming a final task scheduling scheme.
In conclusion, the core innovation point of the invention is that the reinforcement learning algorithm is introduced into the application scene of multi-satellite emergency task planning, the A3C algorithm network structure is improved, an A3C-S algorithm network is designed, the arrangement of emergency tasks is decided, and the timeliness and the accuracy of emergency task scheduling are ensured.
Corresponding to the embodiment of the method for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition, the invention also provides an embodiment of a device for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition.
Referring to fig. 4, the device for scheduling multiple remote sensing satellite observation tasks under emergency conditions provided in the embodiment of the present invention includes one or more processors, and is configured to implement the method for scheduling multiple remote sensing satellite observation tasks under emergency conditions in the foregoing embodiment.
The embodiment of the device for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition can be applied to any equipment with data processing capability, such as computers and other equipment or devices. The device embodiments may be implemented by software, or by hardware, or by a combination of hardware and software. The software implementation is taken as an example, and as a device in a logical sense, a processor of any device with data processing capability reads corresponding computer program instructions in the nonvolatile memory into the memory for operation. From a hardware aspect, as shown in fig. 4, the present invention is a hardware structure diagram of any device with data processing capability where a device for scheduling multiple remote sensing satellite observation tasks under emergency conditions is located, except for the processor, the memory, the network interface, and the nonvolatile memory shown in fig. 4, in an embodiment, any device with data processing capability where the device is located may also include other hardware according to the actual function of the any device with data processing capability, which is not described again.
The implementation process of the functions and actions of each unit in the above device is specifically described in the implementation process of the corresponding step in the above method, and is not described herein again.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the invention. One of ordinary skill in the art can understand and implement it without inventive effort.
The embodiment of the invention also provides a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for scheduling the observation tasks of the multiple remote sensing satellites under the emergency condition is realized.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of any data processing capability device described in any of the foregoing embodiments. The computer readable storage medium may also be an external storage device such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer readable storage medium may include both an internal storage unit and an external storage device of any data processing capable device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the arbitrary data processing-capable device, and may also be used for temporarily storing data that has been output or is to be output.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Although the foregoing has described the practice of the present invention in detail, it will be apparent to those skilled in the art that modifications may be made to the practice of the invention as described in the foregoing examples, or that certain features may be substituted in the practice of the invention. All changes, equivalents and modifications which come within the spirit and scope of the invention are desired to be protected.
Claims (10)
1. A method for scheduling observation tasks of multiple remote sensing satellites under emergency conditions is characterized by comprising the following steps:
step one, an initial task demand information table and a satellite resource information table are established, and then a task queue is established, wherein the task queue comprises: a completed task queue, an executing task queue, a waiting task queue, and a new to task queue;
step two, the scheduling system receives the current emergency task requirement, inserts the current emergency task into a new task queue for task scheduling, judges whether the current emergency task requirement is effective, decides whether the emergency task is executed if the current emergency task requirement is effective, and inserts the current emergency task into a waiting task queue for waiting execution if the current emergency task requirement is effective; otherwise, rejecting the demand and executing the emergency task, and then carrying out task scheduling on the next new task;
step three, when the emergency task is started to be executed, the emergency task is added into the executing task queue, the satellite resource information is updated, the execution time window is permanently occupied, and after the emergency task is executed, the emergency task is added into the executed task queue;
and step four, after all tasks are executed, summarizing a task scheduling result table containing information of task numbers, satellite numbers and completed time windows to form a final task scheduling scheme.
2. The method for scheduling observation tasks of multiple remote sensing satellites in emergency situations as claimed in claim 1, wherein the attributes of the initial task requirement information table include priority, arrival time, effective completion time, resolution requirement and imaging type, and then a task set is setWherein any one task can be represented as,、、、Andare respectively tasksPriority of, arrival time, effective completion time, resolution requirements and type of imaging,;
and the attributes of the satellite resource information table comprise task execution time, field angle, imaging resolution, imaging type, task conversion time, yaw rate and maximum yaw angle, and then a satellite resource set is set:
3. The method for scheduling multi-remote sensing satellite observation tasks under the emergency condition according to claim 2, wherein the second step is specifically as follows:
when a scheduling system receives a current emergency task requirement, namely an observation requirement of the emergency task, judges whether the observation requirement is valid, firstly calculates an executable time window of the emergency task, checks the constraint condition of each time window and the current executed task, constructs an optional time window set S of the emergency task, and if the optional time window set S is empty, namely the observation requirement is judged to be invalid, rejects the observation requirement of the emergency task and enters a judgment process of a next arriving task; if the observation requirement is judged to be effective, the decision of accepting/rejecting the task execution is given through the A3C-S algorithm network, if the decision result given by the A3C-S algorithm network is rejection of the task execution, the decision process of the next new task is entered, and if the decision result given by the A3C-S algorithm network is acceptance of the task execution, the emergency task is inserted into a waiting task queue, an executable time window is arranged, satellite resource information is updated, and the decision process of the next new task is entered.
4. The method for scheduling observation tasks of multiple remote sensing satellites under emergency conditions as claimed in claim 3, wherein the decision of the emergency task is started immediately after the emergency task arrives, the decision of each task is recorded as one step, the task decision strategy is updated by adopting an N-step sampling method, and the formula for updating the decision strategy is as follows:
5. The method for scheduling multi-remote sensing satellite observation tasks under emergency conditions according to claim 3, wherein the method comprises calculating time windows for the emergency tasks to be executed, and checking the constraint condition between each time window and the current executed task, and specifically comprises:
is provided withTo be a taskOn satellite resourcesThe set of remote sensing opportunities in (a) is,for remote sensing opportunity setsNumber of medium elements, any one of them being a remote sensing opportunityCan be expressed asI.e. remote sensing opportunityA time window of (a);
by means of variablesThe information indicating the scheduling of the task is,=1 represents a taskAllocation to satellite resourcesTokA remote sensing machine will execute otherwise= 0; for external useAndrespectively representing tasksOn satellite resourcesA start time and an end time of, and;
each task can only be allocated to one satellite resource and executed at most once, so there are the following task constraints:
taskMust be at remote sensing opportunityInternal execution, therefore, there are the following remote sensing opportunity constraints:
6. The method for scheduling multi-remote sensing satellite observation tasks under emergency conditions according to claim 5, wherein the scheduling executable time window specifically comprises: firstly, calculating the task demand degree in a waiting task queue, wherein the task demand degree represents the urgency degree of the task to be scheduled, and the task with high priority and few remote sensing opportunities is preferentially scheduled, and the task demand degree expression is as follows:
and selecting the task in the waiting task queue by calculating the task demand degree, and selecting the minimum time window from all the time windows which can be used for task completion.
7. The method for scheduling observation tasks of multiple remote sensing satellites in emergency conditions according to claim 3, wherein the structure of the A3C-S algorithm network is based on the A3C algorithm network, and a layer of fully connected network is added before a policy network and an evaluation network; the A3C-S algorithm network adopts an asynchronous updating method, in the asynchronous training process, a public global neural network comprising a strategy network and an evaluation network exists, a plurality of threads are operated, each thread is provided with a local network, the structure of the local network is consistent with that of the global neural network, each local network independently interacts with the environment to obtain experience data, after each local network learns, the loss function gradient of each local network is calculated, the global neural network is updated, the local network updates the parameters of the local network to the parameters of the public global neural network at intervals, further guides the environment interactive learning after the learning, and finally obtains the learned global neural network.
8. The method for scheduling observation tasks of multiple remote sensing satellites under emergency conditions according to claim 7, wherein a network parameter gradient calculation formula of the policy network is as follows:
a neural network parameter representing a network of comments,the parameters representing the policy network are,representing the input to the neural network, and,a decision output representing the input to the corresponding neural network,represents a corresponding instant prize value;is the discount factor of the number of the discount factors,is the number of update steps.
9. An emergency condition-oriented multi-remote sensing satellite observation task scheduling device, characterized by comprising one or more processors and being used for implementing the emergency condition-oriented multi-remote sensing satellite observation task scheduling method of any one of claims 1 to 8.
10. A computer-readable storage medium, having stored thereon a program which, when being executed by a processor, carries out the method of scheduling multiple telemetry satellite observation tasks for emergency situations according to any one of claims 1 to 8.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210856415.3A CN115081936B (en) | 2022-07-21 | 2022-07-21 | Method and device for scheduling observation tasks of multiple remote sensing satellites under emergency condition |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210856415.3A CN115081936B (en) | 2022-07-21 | 2022-07-21 | Method and device for scheduling observation tasks of multiple remote sensing satellites under emergency condition |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115081936A true CN115081936A (en) | 2022-09-20 |
CN115081936B CN115081936B (en) | 2022-11-18 |
Family
ID=83259520
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210856415.3A Active CN115081936B (en) | 2022-07-21 | 2022-07-21 | Method and device for scheduling observation tasks of multiple remote sensing satellites under emergency condition |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115081936B (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116167541A (en) * | 2023-04-19 | 2023-05-26 | 南京邮电大学 | Path planning method based on self-adaptive distribution strategy under emergency condition |
CN116629511A (en) * | 2023-04-12 | 2023-08-22 | 中国人民解放军战略支援部队航天工程大学 | Multi-star dynamic task planning method and device based on two-stage hybrid scheduling in uncertain environment |
CN116957311A (en) * | 2023-09-21 | 2023-10-27 | 交通运输部水运科学研究所 | Intelligent distribution method and system for emergency strategy |
CN117076135A (en) * | 2023-10-13 | 2023-11-17 | 之江实验室 | Resource scheduling method and device, storage medium and electronic equipment |
Citations (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5257375A (en) * | 1991-08-23 | 1993-10-26 | International Business Machines Corp. | Method and apparatus for dispatching tasks requiring short-duration processor affinity |
US20030032391A1 (en) * | 2001-08-09 | 2003-02-13 | Craig Schweinhart | Low latency handling of transmission control protocol messages in a broadband satellite communications system |
US6597892B1 (en) * | 2000-04-18 | 2003-07-22 | Ses Americom | Automated ground system with telemetry initiated command assistance |
CN102867107A (en) * | 2012-08-16 | 2013-01-09 | 中国人民解放军国防科学技术大学 | Multi-imaging satellite emergency task dynamic scheduling method |
CN109409775A (en) * | 2018-11-14 | 2019-03-01 | 中国电子科技集团公司第五十四研究所 | A kind of satellite joint observation mission planning method |
CN109829636A (en) * | 2019-01-22 | 2019-05-31 | 中国人民解放军国防科技大学 | emergency task scheduling planning method based on dynamic priority |
CN110705775A (en) * | 2019-09-27 | 2020-01-17 | 中国电子科技集团公司第五十四研究所 | Satellite-ground resource rapid configuration method for emergency task |
CN110825510A (en) * | 2019-11-05 | 2020-02-21 | 中国人民解放军国防科技大学 | Task-driven multi-satellite cooperative task allocation method and system |
CN111311074A (en) * | 2020-01-20 | 2020-06-19 | 中国人民解放军国防科技大学 | Multi-satellite distributed cooperative rescheduling method facing emergency tasks |
CN111340868A (en) * | 2020-02-26 | 2020-06-26 | 大连海事大学 | Autonomous decision control method of unmanned underwater vehicle based on visual depth estimation |
US10756809B1 (en) * | 2018-11-21 | 2020-08-25 | Beijing Yuritan Technology Co.Ltd | Emergency communication satellite terminal management system |
WO2020233262A1 (en) * | 2019-07-12 | 2020-11-26 | 之江实验室 | Spark-based multi-center data collaborative computing stream processing method |
CN112308374A (en) * | 2020-09-27 | 2021-02-02 | 北京控制工程研究所 | Multi-stage queue-based satellite autonomous mission planning instruction sequence execution method |
CN112884126A (en) * | 2021-02-26 | 2021-06-01 | 深圳蓝胖子机器智能有限公司 | Deep reinforcement learning network system |
CN113269386A (en) * | 2021-03-02 | 2021-08-17 | 北京市遥感信息研究院 | Imaging satellite emergency task planning method and system based on synthesis strategy |
CN113313356A (en) * | 2021-04-30 | 2021-08-27 | 合肥工业大学 | Method and device for synthesizing remote sensing satellite earth observation emergency task |
CN113327030A (en) * | 2021-05-27 | 2021-08-31 | 北京和德宇航技术有限公司 | Multi-satellite task planning method, system, equipment and storage medium |
CN113537782A (en) * | 2021-07-19 | 2021-10-22 | 福州大学 | Contract network-based multi-satellite situation awareness system distributed task planning method |
CN113919122A (en) * | 2021-08-05 | 2022-01-11 | 合肥工业大学 | Multi-star task scheduling method and system based on simulated annealing algorithm |
CN114143882A (en) * | 2021-11-29 | 2022-03-04 | 华东师范大学 | Multi-intelligence system self-organizing method and system based on reinforced organization control |
CN114493373A (en) * | 2022-03-31 | 2022-05-13 | 中国科学院空天信息创新研究院 | Emergency task processing method and device in remote sensing satellite processing system |
CN114612019A (en) * | 2022-05-12 | 2022-06-10 | 北京开运联合信息技术集团股份有限公司 | Multi-satellite task overall planning method and device |
-
2022
- 2022-07-21 CN CN202210856415.3A patent/CN115081936B/en active Active
Patent Citations (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5257375A (en) * | 1991-08-23 | 1993-10-26 | International Business Machines Corp. | Method and apparatus for dispatching tasks requiring short-duration processor affinity |
US6597892B1 (en) * | 2000-04-18 | 2003-07-22 | Ses Americom | Automated ground system with telemetry initiated command assistance |
US20030032391A1 (en) * | 2001-08-09 | 2003-02-13 | Craig Schweinhart | Low latency handling of transmission control protocol messages in a broadband satellite communications system |
CN102867107A (en) * | 2012-08-16 | 2013-01-09 | 中国人民解放军国防科学技术大学 | Multi-imaging satellite emergency task dynamic scheduling method |
CN109409775A (en) * | 2018-11-14 | 2019-03-01 | 中国电子科技集团公司第五十四研究所 | A kind of satellite joint observation mission planning method |
US10756809B1 (en) * | 2018-11-21 | 2020-08-25 | Beijing Yuritan Technology Co.Ltd | Emergency communication satellite terminal management system |
CN109829636A (en) * | 2019-01-22 | 2019-05-31 | 中国人民解放军国防科技大学 | emergency task scheduling planning method based on dynamic priority |
WO2020233262A1 (en) * | 2019-07-12 | 2020-11-26 | 之江实验室 | Spark-based multi-center data collaborative computing stream processing method |
CN110705775A (en) * | 2019-09-27 | 2020-01-17 | 中国电子科技集团公司第五十四研究所 | Satellite-ground resource rapid configuration method for emergency task |
CN110825510A (en) * | 2019-11-05 | 2020-02-21 | 中国人民解放军国防科技大学 | Task-driven multi-satellite cooperative task allocation method and system |
CN111311074A (en) * | 2020-01-20 | 2020-06-19 | 中国人民解放军国防科技大学 | Multi-satellite distributed cooperative rescheduling method facing emergency tasks |
CN111340868A (en) * | 2020-02-26 | 2020-06-26 | 大连海事大学 | Autonomous decision control method of unmanned underwater vehicle based on visual depth estimation |
CN112308374A (en) * | 2020-09-27 | 2021-02-02 | 北京控制工程研究所 | Multi-stage queue-based satellite autonomous mission planning instruction sequence execution method |
CN112884126A (en) * | 2021-02-26 | 2021-06-01 | 深圳蓝胖子机器智能有限公司 | Deep reinforcement learning network system |
CN113269386A (en) * | 2021-03-02 | 2021-08-17 | 北京市遥感信息研究院 | Imaging satellite emergency task planning method and system based on synthesis strategy |
CN113313356A (en) * | 2021-04-30 | 2021-08-27 | 合肥工业大学 | Method and device for synthesizing remote sensing satellite earth observation emergency task |
CN113327030A (en) * | 2021-05-27 | 2021-08-31 | 北京和德宇航技术有限公司 | Multi-satellite task planning method, system, equipment and storage medium |
CN113537782A (en) * | 2021-07-19 | 2021-10-22 | 福州大学 | Contract network-based multi-satellite situation awareness system distributed task planning method |
CN113919122A (en) * | 2021-08-05 | 2022-01-11 | 合肥工业大学 | Multi-star task scheduling method and system based on simulated annealing algorithm |
CN114143882A (en) * | 2021-11-29 | 2022-03-04 | 华东师范大学 | Multi-intelligence system self-organizing method and system based on reinforced organization control |
CN114493373A (en) * | 2022-03-31 | 2022-05-13 | 中国科学院空天信息创新研究院 | Emergency task processing method and device in remote sensing satellite processing system |
CN114612019A (en) * | 2022-05-12 | 2022-06-10 | 北京开运联合信息技术集团股份有限公司 | Multi-satellite task overall planning method and device |
Non-Patent Citations (14)
Title |
---|
CUI-QIN DAI: "Dynamic Scheduling for Emergency Tasks in Space Data Relay Network", 《IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY》 * |
JIANJIANG WANG: "Dynamic Scheduling for Emergency Tasks on Distributed Imaging Satellites with Task Merging", 《IEEE TRANSACTIONS ON PARALLEL AND DISTRIBUTED SYSTEMS》 * |
PEIJIE LIU: "Source Number Estimation Method of Multi-Antenna system for Multi-Satellite TT& C", 《2020 IEEE 9TH JOINT INTERNATIONAL INFORMATION TECHNOLOGY AND ARTIFICIAL INTELLIGENCE CONFERENCE (ITAIC)》 * |
SUN HAIQUAN: "Earth observation satellite scheduling for emergency tasks", 《JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS》 * |
ZHENG LIU: "A DQN-based hyperheuristic algorithm for emergency scheduling of Earth observation satellites", 《2021 2ND INTERNATIONAL CONFERENCE ON ELECTRONICS, COMMUNICATIONS AND INFORMATION TECHNOLOGY (CECIT)》 * |
刘伯阳: "基于策略的遥感卫星管控方法研究", 《中国空间科学技术》 * |
刘永等: "基于规则引擎的通讯卫星应急任务调度", 《计算机工程与设计》 * |
巫震宇: "基于本体技术的遥感卫星资源调度方法研究", 《无线电工程》 * |
张利宁: "对地观测卫星任务规划的启发式动态调整算法", 《计算机工程与应用》 * |
张思锐: "针对应急任务的敏捷成像卫星规划方法研究", 《中国优秀硕士学位论文全文库》 * |
李燕: "组网成像卫星应急自主任务规划模型与算法研究", 《中国优秀硕士学位论文全文库》 * |
李颖等: "遥感卫星应用系统的一种多任务并行调度方法", 《航天器工程》 * |
邸高高: "卫星移动通信系统在应急行业应用的思考", 《电信网技术》 * |
闫华等: "卫星数传应急任务调度模型", 《计算机工程》 * |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN116629511A (en) * | 2023-04-12 | 2023-08-22 | 中国人民解放军战略支援部队航天工程大学 | Multi-star dynamic task planning method and device based on two-stage hybrid scheduling in uncertain environment |
CN116167541A (en) * | 2023-04-19 | 2023-05-26 | 南京邮电大学 | Path planning method based on self-adaptive distribution strategy under emergency condition |
CN116167541B (en) * | 2023-04-19 | 2023-09-29 | 南京邮电大学 | Path planning method based on self-adaptive distribution strategy under emergency condition |
CN116957311A (en) * | 2023-09-21 | 2023-10-27 | 交通运输部水运科学研究所 | Intelligent distribution method and system for emergency strategy |
CN117076135A (en) * | 2023-10-13 | 2023-11-17 | 之江实验室 | Resource scheduling method and device, storage medium and electronic equipment |
CN117076135B (en) * | 2023-10-13 | 2024-02-02 | 之江实验室 | Resource scheduling method and device, storage medium and electronic equipment |
Also Published As
Publication number | Publication date |
---|---|
CN115081936B (en) | 2022-11-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN115081936B (en) | Method and device for scheduling observation tasks of multiple remote sensing satellites under emergency condition | |
CN111858009B (en) | Task scheduling method of mobile edge computing system based on migration and reinforcement learning | |
CN108388958B (en) | Method and device for researching two-dimensional attitude maneuvering satellite mission planning technology | |
Du et al. | A data-driven parallel scheduling approach for multiple agile earth observation satellites | |
CN112465151A (en) | Multi-agent federal cooperation method based on deep reinforcement learning | |
CN110852448A (en) | Cooperative intelligent agent learning method based on multi-intelligent agent reinforcement learning | |
CN115237581B (en) | Heterogeneous computing power-oriented multi-strategy intelligent scheduling method and device | |
WO2019068838A1 (en) | Machine learning system | |
CN114741886B (en) | Unmanned aerial vehicle cluster multi-task training method and system based on contribution degree evaluation | |
CN114415735B (en) | Dynamic environment-oriented multi-unmanned aerial vehicle distributed intelligent task allocation method | |
CN114896899B (en) | Multi-agent distributed decision method and system based on information interaction | |
CN114546608B (en) | Task scheduling method based on edge calculation | |
CN112990485A (en) | Knowledge strategy selection method and device based on reinforcement learning | |
CN112733043B (en) | Comment recommendation method and device | |
CN112948412A (en) | Flight inventory updating method, system, electronic equipment and storage medium | |
CN114757362A (en) | Multi-agent system communication method based on edge enhancement and related device | |
CN115951989B (en) | Collaborative flow scheduling numerical simulation method and system based on strict priority | |
CN112749041A (en) | Virtualized network function backup strategy self-decision method and device and computing equipment | |
CN115099606A (en) | Training method and terminal for power grid dispatching model | |
Wu et al. | A data-driven improved genetic algorithm for agile earth observation satellite scheduling with time-dependent transition time | |
CN116932198A (en) | Resource scheduling method, device, electronic equipment and readable storage medium | |
CN113205220B (en) | Unmanned aerial vehicle logistics distribution global planning method for real-time order data | |
Qu et al. | Dynamic scheduling in modern processing systems using expert-guided distributed reinforcement learning | |
CN117193992B (en) | Model training method, task scheduling device and computer storage medium | |
CN111767991B (en) | Measurement and control resource scheduling method based on deep Q learning |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant |